A flow rate control system including a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value is provided, and includes a flow rate sensor, a pressure sensor measuring a pressure of a primary side of the flow rate controller, a PI calibration value determination unit determining a PI calibration value based on at least a physical property coefficient according to a physical property value of the fluid, a correction unit correcting an estimated flow rate, based on the PI calibration value and a measured value, and a drive control circuit adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated value and controlling the flow rate of the fluid. A flow rate is accurately calculated regardless of types of a fluid in the pressure insensitive type flow rate controller.
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7. A control method of a flow rate control system including a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value,
the flow rate controller comprising:
a flow rate sensor measuring the flow rate of the fluid; and
a pressure sensor measuring a pressure of a primary side of the flow rate controller; and
the method comprising steps of:
determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid;
correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor;
adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated flow rate corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value; and
changing a measurement range of the flow rate measured by the flow rate sensor.
1. A flow rate control system, including a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value, the flow rate control system comprising:
a flow rate sensor measuring the flow rate of the fluid;
a pressure sensor measuring a pressure of a primary side of the flow rate controller;
a pressure insensitive calibration value determination unit determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid;
a correction unit correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor;
a drive control circuit adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated flow rate corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value; and
a ran edging unit changing a measurement range of the flow rate measured by the flow rate sensor.
8. A non-transitory computer-readable storage medium that stores a computer-executable program for controlling a flow rate control system including a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value,
the flow rate controller comprising:
a flow rate sensor measuring the flow rate of the fluid; and
a pressure sensor measuring a pressure of a primary side of the flow rate controller; and
the program comprising instructions for:
determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid;
correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor;
adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated flow rate corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value; and
changing a measurement range of the flow rate measured by the flow rate sensor.
2. The flow rate control system according to
3. The flow rate control system according to
a physical property acquisition unit acquiring the physical property coefficient of the fluid; and
a storage storing the pressure insensitive calibration value used for the correction in the flow rate controller;
wherein the pressure insensitive calibration value stored in the storage is possible to be changed in accordance with acquired physical property coefficient of the fluid.
4. The flow rate control system according to
5. The flow rate control system according to
6. The flow rate control system according to
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This application claims priority to Japanese Application No. 2020-053123, filed on Mar. 24, 2020.
The present invention relates to a flow rate control system, and control methods and control programs thereof.
Conventionally, a film forming process, for forming a thin film on a surface of a semiconductor wafer, has been required to achieve a finer thin film. In this context, recently, a film forming method, known as Atomic Layer Deposition (ALD), capable of forming a thin film with a thickness at an atomic level or a molecular level has been employed. With the microfabrication of thin films, higher precision of flow control devices is required.
In a device in which a plurality of flow rate controllers connected to the same line arranged in parallel, a pressure insensitive type flow rate controller (PIMFC: Pressure Insensitive Mass Flow Controller), controlling a flow rate by using a measured value of a pressure sensor provided on a primary side and removing an influence of a primary pressure fluctuation due to a pulsation of another flow rate controller, is known.
Patent Document 1 discloses a method for pressure fluctuation insensitive mass flow control by using a mass flow controller which includes a thermal mass flow sensor in combination with a pressure sensor through providing the pressure sensor between an aperture and a control valve and compensating an inlet flow rate by using a measured pressure.
Patent Document 1: JP 2005-531069 A
In a multi gas flow controller, which handles multiple types of gas with one unit, it is desirable that an influence of a primary pressure fluctuation can be appropriately removed regardless of fluid types.
Therefore, one of the objects of the present invention is to accurately obtain a flow rate regardless of fluid types in a flow rate controller of a pressure insensitive type.
A flow rate control system according to one aspect of the present invention includes a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value. Further, the flow rate control system may include a flow rate sensor measuring the flow rate of the fluid, a pressure sensor measuring a pressure of a primary side of the flow rate controller, a pressure insensitive calibration value determination unit determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid, a correction unit correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor, and a drive control circuit adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated value corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value.
Further, the pressure insensitive calibration value determination unit may determine the pressure insensitive calibration value based on at least the physical property coefficient of the fluid and a physical property coefficient according to a physical property value of a reference gas.
Further, the flow rate control system may further include a physical property acquisition unit acquiring the physical property coefficient of the fluid, and a storage storing the pressure insensitive calibration value used for the correction in the flow rate controller. In addition, the pressure insensitive calibration value stored in the storage may be possible to be changed in accordance with acquired physical property coefficient of the fluid.
Further, the pressure insensitive calibration value determination unit may refer to a calibration value table where types of the fluid and the pressure insensitive calibration value are associated with each other and determine the pressure insensitive calibration value stored in the storage.
Further, the flow rate control system may further include a range changing unit changing a measurement range of the flow rate measured by the flow rate sensor.
Further, the pressure insensitive calibration value determination unit may determine the pressure insensitive calibration value based on an eigenvalue of the sensor according to types of the flow rate sensor.
Further, the flow rate sensor may be a thermal mass flow sensor.
A control method of a flow rate control system according to another aspect of the present invention may include a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value. Then, the flow rate controller may include a flow rate sensor measuring the flow rate of the fluid, and a pressure sensor measuring a pressure of a primary side of the flow rate controller. Further, the control method of a flow rate control system may include steps of determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid, correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor, and adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated value corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value.
A non-transitory computer-readable storage medium according to another aspect of the present invention that stores a computer-executable program for controlling a flow rate control system including a flow rate controller controlling a flow rate of a fluid supplied to a controlled object to keep a desired flow rate set value is provided. The flow rate controller may includes a flow rate sensor measuring the flow rate of the fluid, and a pressure sensor measuring a pressure of a primary side of the flow rate controller. The computer executable program may include instructions for determining a pressure insensitive calibration value based on at least a physical property coefficient according to a physical property value of the fluid, correcting an estimated flow rate, estimated by the flow rate sensor, based on the pressure insensitive calibration value and a measured value of the pressure sensor, and adjusting an opening of a valve supplying the fluid to the controlled object based on the estimated value corrected by the correction unit and controlling the flow rate of the fluid to be the flow rate set value.
The computer executable program can be provided by downloading via a network such as the Internet, or can be recorded and provided on various non-transitory computer readable recording media.
According to the present invention, in a pressure insensitive type flow rate controller, the flow rate can be accurately obtained regardless of the fluid types.
A flow rate control system, its control method and its control program according to embodiments of the present invention will be described below with reference to the drawings.
Overview of the Flow Rate Control System
A flow rate control system 100 is a system to control a flow rate in a controlled object to keep a flow rate set value.
As illustrated in
Physical Configurations of the Flow Rate Controller 30
As illustrated in
The valve body 101 is a member made of a steel material such as stainless and having a rectangular parallelopiped outer shape. The valve body 101 is on a supply path of the fluid supplied to the controlled object, and an upstream of the valve body 101 is an upstream flow path 101a and a downstream is a downstream flow path 101b.
An upstream side of the upstream flow path 101a and a downstream side of the downstream flow path 101b are connected to pipes where the fluid of the controlled object flows.
The upstream flow path 101a is a flow path where the fluid flows in from the upstream side. The upstream flow path 101a branches off into flow paths, or a sensor tube 102a and a bypass flow path 101c, passing through the flow rate sensor 102, then merges, and flows out to the valve 105. The valve 105 is a valve body in which an opening position and the like, connecting between the upstream flow path 101a and the downstream flow path 101b, can be controlled, such as a solenoid valve driven by a voice coil. The downstream flow path 101b is configured that a flow-controlled fluid flows in from the upstream side by the valve 105 and flows out to the downstream side of the flow rate controller 30, or to the controlled object.
The flow rate sensor 102 is a sensor measuring the flow rate of the fluid flowing through the sensor tube 102a. The flow rate sensor 102 is, for example, a thermal flow rate sensor having heat-generating resistors 102b, 102c in the upstream and the downstream of the sensor tube 102a, and the flow rate of the fluid flowing in the sensor tube 102a is converted into a voltage based on a temperature difference between the heat-generating resistors 102b, 102c. Since a ratio of the flow rate flowing through the bypass flow path 101c and the flow rate flowing through the sensor tube 102a is known, the flowrate of the upstream flow path 101a can be calculated by measuring the flow rate flowing through the sensor tube 102a.
The pressure sensor 103 is a sensor arranged in the upstream flow path 101a and is measuring a pressure on a primary side of the flow rate controller 30.
When the same fluid flows into multiple lines, a pressure on the primary side fluctuates greatly due to an influence of a pulsation of different flow rate controllers in parallel. This primary pressure fluctuation causes an error in the measured value of the flow rate sensor 102. Therefore, in the flow rate controller 30, the pressure sensor 103 measuring the pressure on the primary side is arranged, the measured value of the flow rate sensor 102 is corrected based on the measured value of the pressure sensor 103, and an effect of a sudden primary pressure fluctuation due to the pulsation of other flow rate controllers can be suppressed.
The control unit 104 is a device to acquire the flow rate set value and to control the valve 105 based on the measured value of the flow rate sensor 102 and the flow rate set value, and is configured, for example, by an electric board. The control unit 104 has a wired or wireless connection to an external flow rate setting device and may acquire the flow rate set value from the external flow rate setting device. The control unit 104 controls an opening position of the valve 105 so that the flow rate discharged from the downstream flow path 101b becomes the flow rate set value.
Interface Device 10
As illustrated in
Calibration Value Determination Device 20
The calibration value determination device 20 is a functional unit to determine a PI (pressure insensitive) calibration value to calibrate a degree of a calibration value of the flow rate sensor 102 by the pressure sensor 103 based on a physical property coefficient according to the physical property value of a controlled fluid actually used, such as the live gas. The calibration value determination device 20 includes a memory 21, a physical property acquisition unit 22, and a PI (pressure insensitive) calibration value determination unit 23.
The memory 21 is a functional unit that stores data needed to determine the PI calibration value. The memory 21, for example, stores a physical coefficient table in which fluid types are associated with physical property coefficients. The memory 21, in addition to or in place of these, may store a calibration value table in which the fluid types and PI (pressure insensitive) calibration values are associated with each other. Further, the memory 21 stores a physical property coefficient of a reference gas, which is a basis for calculating the PI calibration value, and a PI calibration value of the reference gas. The reference gas is, for example, nitrogen gas.
The physical property acquisition unit 22 is a functional unit that acquires the physical property coefficient of the fluid, which is a controlled object. The physical property coefficient is a coefficient calculated for each types of fluid based on one or more physical property values of the fluid. The physical property acquisition unit 22 may calculate the physical property coefficient based on, for example, the physical properties of the fluid input to the interface device 10. Further, the physical property acquisition unit 22 may refer to the physical coefficient table stored in the memory 21 and acquire the physical property coefficient based on the fluid type input to the interface 10.
The PI calibration value determination unit 23 is a functional unit that determines the PI calibration value based on at least the physical property coefficient according to the physical property value of the fluid.
The PI calibration value determination unit 23 may calculate a PI (pressure insensitive) calibration value PIgas of a controlled object of the fluid, such as a live gas, by using at least a physical property coefficient Qgas of the live gas and a physical property coefficient according to a physical property value of the reference gas. Further, the PI calibration value determination unit 23 determines the PI calibration value based on an eigenvalue of the sensor M according to types of the flow rate sensor. That is, when the reference gas is nitrogen gas, it is expressed by the following equation:
PIgas=f(QN
Here, QN2 is a physical property coefficient of the nitrogen gas and PIN2 is a PI calibration value of the nitrogen gas. According to this configuration, the PI calibration value can be obtained without actually flowing the live gas and adjusting it, and the flow rate control can be easily and accurately achieved.
Further, the PI calibration value determination unit 23 may acquire a flow rate correction coefficient (conversion factor) CF of the live gas with respect to the nitrogen gas and calculate the PI calibration value by the following equation based on the flow rate correction coefficient CF:
PIgas=g(CF,PIN
Further, the PI calibration value determination unit 23 may refer to the calibration value table in which the fluid type and the PI calibration value are associated with each other and may determine the PI calibration value stored in a storage 32, described later and included in the flow rate controller, based on the fluid type input to the interface device 10. According to this configuration, a processing load of a calculation is reduced.
The PI calibration value determination unit 23 transmits a determined PI calibration value to the flow rate controller 30 via a network NW2 and the storage 32 stores this determined PI calibration value.
Internal Circuit Configuration of the Flow Rate Controller
As illustrated in
The fluid information acquisition mechanism 31 is a functional unit that acquires the measured value of the flow rate sensor 102 and the pressure sensor 103.
The control unit 104 is a device that acquires a flow rate set value from a flow rate setting device, the measured value of the flow rate and the measured value of the pressure sensor 103, and outputs a signal referred to by the drive control circuit 35 to control drive of the valve 105, and it is, for example, a CPU (Central Processing Unit). A signal measured by the flow rate sensor 102 may be input to the control unit 104 via a sensor circuit for amplifying and filtering, an A/D conversion circuit for digitizing, and the like. An output signal from the control unit 104 may be analogized via a D/A conversion circuit and input to the drive control circuit 35. The drive control circuit 35 controls the valve 105 in response to a signal from the control unit 104.
Functional Block of the Control Unit 104
The control unit 104 includes at least the storage 32, a correction unit 33 and a range changing unit 34 as software resources.
The storage 32 is a functional unit that stores the PI calibration value determined by the calibration value determination device 20. The storage 32 includes a memory and the like in which recorded contents can be overwritten. In other words, the PI calibration value stored in the storage 32 is able to be changed. According to this configuration, even in a multi-gas compatible flow rate control system in which the fluid type is changed, the flow rate can be controlled by using an appropriate PI (pressure insensitive) calibration value without communicating each time with the calibration value determination device 20.
The correction unit 33 is a functional unit that calibrates the measured value of the flow rate sensor 102 based on the measured value and the PI calibration value of the pressure sensor 103. The correction unit 33 calibrates based on the measured value of the pressure sensor 103 in a transient state after the flow rate set value of this flow rate controller 30 or a flow rate controller 30 arranged in parallel changes. This is because when the flow rate set value changes, a primary pressure fluctuation becomes large and an measurement error of the flow rate sensor 102 due to a pressure fluctuation becomes large.
Since the correction unit 33 refers to the PI calibration value stored in the storage 32 to calibrate, it is not necessary to communicate with the calibration value determination device 20 every time a correction process is performed, and the communication load is small. Based on an estimated flow rate generated by the correction unit 33, the drive control circuit 35 controls the drive of the valve 105 so that the estimated flow rate becomes the flow rate set value.
The range changing unit 34 is a functional unit that changes a measurement range of the flow rate controller 30. The range changing unit 34 changes the measurement range by changing a digital gain of the measured value of the flow rate sensor 102. According to this configuration, a multi-range flow rate control system can be achieved and a flow rate control in various flow rate ranges is possible.
With reference to
Further, as illustrated in
In the above-described embodiment, the configuration in which the calibration value determination device 20 and the flow rate controller 30 are connected by the network NW2, but as illustrated in
Flowchart to Determine PI Calibration Value
As illustrated in
Flowchart to Control the Flow Rate
As illustrated in
As described above, the flow rate control system according to the present invention may accurately calculate the flow rate in the pressure insensitive type of the flow rate controller regardless of the fluid types.
Kitano, Masafumi, Nguyen, Van Tu
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